CN210678738U - Mechanical arm - Google Patents

Abstract

The utility model relates to the technical field of mechanical automation, concretely relates to manipulator, including gyration subassembly, hand claw fixed subassembly, arm lock subassembly, flexible hand claw, hand claw return subassembly and hand claw spacing subassembly, wherein hand claw spacing subassembly can limit its with the relative position between the fixed subassembly of hand claw, and configure into when being close to or keeping away from the fixed subassembly of hand claw cooperate the hand claw return position group and the fixed subassembly of hand claw realize the relative or reverse motion of upper and lower arm lock, make flexible hand claw accomplish to snatch and release the action; the utility model discloses can realize effectual pressing from both sides tightly, compact structure is simple, need not complicated sensing element, and the structure is succinct, and control is convenient, and the design of its flexible hand claw has reached the dual effect of stabilizing centre gripping and control clamping force degree and speed in addition, has effectively reduced the mechanical shock that the object receives, is difficult for causing the injury, and specially adapted valuables's clamp is got, has extensive application prospect.

Description

Mechanical arm

Technical Field

The utility model relates to a mechanical automation technical field, concretely relates to manipulator.

Background

A robot gripper is a form of end effector, which is an additional device mounted on a robot arm for performing a certain operation or work, and requires a robot end effector to be precise, small, lightweight, and compact. The selection of the robot paw is always an important component of the design of the robot arm, and one or tens of new application scenes of the robot can be added by the appearance of a new end effector. The robot end effector has a variety of types to meet different operation or operation requirements such as robot transportation, processing and measurement, and its mechanical actuator mainly has a hydraulic type, a pneumatic type and an electric type. The hydraulic pressure type and the pneumatic pressure type need a series of external hydraulic or pneumatic equipment, an electric/hydraulic or electric/pneumatic conversion link needs to be added in a driving interface, and the hydraulic or pneumatic pressure type driving device is generally used for large-scale industrial application and is not suitable for a single-machine application scene or a mobile application scene. The electric actuating mechanism is easy to realize computer control, convenient to install and maintain, suitable for all application scenes and the mainstream of the future robot end effector.

However, the current electric robot gripper mainly has three problems:

firstly, according to the size, shape, position, posture, weight, hardness and surface quality of an operation object, the required constraint of a clamped object is met, the size, shape, mechanism and motion freedom degree of the self body are designed, the proper clamping precision is ensured, a plurality of power devices, transmission devices, sensors and control devices are needed, and an industrial control circuit is complicated;

secondly, mechanical energy is converted into paw grabbing clamping force, and under the application scene of grabbing and clamping a precision easily damaged object, the impact force of kinetic energy, gravitational potential energy and elastic potential energy on a grabbed object and the precision of sensing and controlling devices need to be overcome, so that a complex buffer mechanism and a redundant control program are generated;

and thirdly, under the scene of executing complex grabbing and clamping movement, the surface condition of the object, the contact state between the paw and the object and the clamping force need to be sensed automatically so as to be adjusted according to the actual working condition, so that the paw conforms to the shape, safety requirements and movement modes of the clamped object, and the structure of the paw is complex and large along with the increase of electrical equipment.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model provides a manipulator for solve foretell problem.

The utility model provides a manipulator, includes the gyration subassembly, the gyration subassembly can 360 degrees gyrations, and the fixed subassembly of hand claw is connected to its one end, and the other end is connected to the robot arm, the fixed subassembly of hand claw rotates respectively and connects upper arm lock and lower arm lock, upper and lower arm lock is kept away from the fixed subassembly one end of hand claw and can is dismantled respectively and connect flexible hand claw, the upper and lower arm lock other end rotates respectively and connects hand claw return subassembly, hand claw return subassembly rotates and connects the spacing subassembly of hand claw, the spacing subassembly of hand claw can inject its with relative position between the fixed subassembly of hand claw to configure into and be close to or keep away from cooperation during the fixed subassembly of hand claw return subassembly and the fixed subassembly of hand claw realize the relative motion or the reverse motion of upper and lower arm lock, make flexible hand claw is accomplished and is snatched and is released the action.

Preferably, the slewing assembly includes the flange axle and fixes the cover and establish the epaxial slewing bearing of flange, slewing bearing is used for installing on the robot arm who has matching size bearing frame, slewing bearing with be provided with locking bolt or gasket between the flange axle.

Preferably, the paw fixing component comprises a paw fixing plate and a locking rack, and the locking rack and the paw fixing plate are fixed on the flange of the flange shaft through bolts.

Preferably, the gripper fixing plate is symmetrically provided with clamping arm shaft mounting holes, and the upper clamping arm and the lower clamping arm are respectively connected with the gripper fixing component in a rotating manner through clamping arm shafts penetrating through the clamping arm shaft mounting holes.

Preferably, flexible hand claw includes balanced splint, and the symmetry sets up balanced splint's collet, balanced splint back middle part border upwards extends and forms the both wings, the both wings symmetry is equipped with the spacing groove that kick-backs, wear to be equipped with balanced splint axle in the spacing groove that kick-backs, balanced splint axle both ends cover is equipped with adjusting spring and is used for the tight dynamics of buffering clamp and speed, balanced splint middle part is provided with limit switch.

Preferably, the upper clamping arm and the lower clamping arm are respectively provided with a balance clamping plate shaft mounting hole at one end far away from the paw fixing component, and the balance clamping plate shaft penetrates through the balance clamping plate shaft mounting holes to be arranged to realize the detachable connection of the flexible paw and the upper clamping arm and the lower clamping arm.

Preferably, the paw return subassembly includes two return connecting rods that set up relatively, the return connecting rod includes first connecting plate and second connecting plate, the one end of first, two connecting plates is rotated and is connected, and first return axle and second return axle are worn to establish respectively by the other end, be provided with a plurality of return springs between first return axle and second return axle, first return axle and second return axle pass respectively upper and lower arm lock is close to the return axle mounting hole that paw fixed subassembly one end set up, realizes rotation between upper and lower arm lock and paw return subassembly is connected.

Preferably, the spacing subassembly of hand claw includes spacing mounting bracket, spacing part and limiting plate, roof fixed connection electro-magnet in the spacing mounting bracket, two pterygoid lamina symmetries of spacing mounting bracket are equipped with the slot hole, spacing mounting bracket is through wearing to establish installation axle in the slot hole is connected with spacing part, spacing mounting bracket with limiting plate fixed connection, the two pterygoid laminas of limiting plate respectively with the rotation of first, two connecting plates is connected one end and is rotated and is connected in two return connecting rods.

Preferably, spacing part include with the electric chuck that the electro-magnet matches the setting, the electric chuck passes through the sucking disc mounting panel and is connected with locking installation firmware, locking installation firmware includes the splint of two relative settings, sucking disc mounting panel both sides and splint top all are provided with the through-hole for cooperation installation axle is worn to establish wherein the realization spacing mounting bracket, sucking disc mounting panel and locking installation firmware's connection, press from both sides between the splint and establish locking plate subassembly, locking plate subassembly is including setting up baffle and a plurality of locking boards of inboard in the outside, the locking plate lower extreme seted up with the lock angle that the locking rack matches, the locking plate top is supported to overlap and is established the locking plate spring of installation axle, follow between the splint the locking plate subassembly both sides are still worn to be equipped with a plurality of locking fixed axles.

Preferably, a plurality of steel ball holes are formed in a locking plate in the locking plate assembly at intervals, and steel balls are arranged in the steel ball holes in a matched mode.

Compared with the prior art, the utility model discloses following beneficial effect has:

(1) the utility model discloses a gyration subassembly, the fixed subassembly of hand claw, arm lock subassembly, flexible hand claw, hand claw return subassembly and the spacing subassembly of hand claw that set up mutually support and have realized snatching the action to the centre gripping of object, have ensured simultaneously and have snatched the tight dynamics of clamp and speed of the clamp of centre gripping in-process, have accomplished to stabilize the centre gripping and have reduced the vibration or the influence of mechanical shock that the object received.

(2) The utility model discloses a mechanical structure nature combination has reduced the use of electric elements such as sensor, has reduced the complexity of structure on the one hand, has reduced manufacturing cost and use cost, and on the other hand has guaranteed the various realization that snatch functions such as centre gripping, has improved the reliability and the life of whole device.

(3) The utility model discloses a flexible paw, its direct software material with the object contact has good degeneration performance, and the regulating spring that the cooperation set up for the paw has stronger adaptability, and the non-structured environment of adaptation that can be fine both had been applicable to the centre gripping of the object of different size and size, and tight dynamics and speed are pressed from both sides in buffering again, and the protection object is not received mechanical force impact damage.

(4) The utility model discloses a claw return subassembly and the spacing subassembly cooperation of claw are used, make the robot arm stop snatching behind the object, the lock plate in the spacing subassembly of claw is under the effect of locking spring, the lock angle coincide with the locking rack of the fixed subassembly of claw, the arm lock can not open, press from both sides tight balanced splint axle, after robot arm moving object work is accomplished, electro-magnet work, it drives stop part to the motion of electro-magnet direction to hold electric sucking disc, make the lock plate leave the locking rack, the arm lock opens, flexible claw loosens the object and lays to the assigned position, whole process control who snatchs and release is simple, the structure is succinct, need not complicated buffer gear and redundant control procedure and can realize the accuracy and snatch, reasonable application of force, stabilize the centre gripping and reduce the good effect of assaulting.

(5) The utility model can realize 360-degree rotation through the designed rotating mechanism, and the manipulator can be arranged on the robot arm of the bearing seat with any matching size by sleeving the rotating bearing on the flange shaft, thereby ensuring the overall stability of the gripper; the rotary bearing is fixed on the flange shaft through the locking bolt or the pad, and the overall safety of the manipulator is guaranteed.

The significant advances and outstanding benefits of the present invention over the prior art are further illustrated in the examples section.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is an exploded view of a manipulator according to embodiment 1;

fig. 2 is a schematic perspective view of a manipulator according to embodiment 1;

fig. 3 is a schematic structural view of a swing assembly of a robot according to embodiment 1;

fig. 4 is a schematic structural view of a gripper fixing assembly of a robot according to embodiment 1;

fig. 5 is a schematic structural view of a gripper limiting assembly of a manipulator according to embodiment 1;

fig. 6 is a schematic structural view of an upper clamping arm and a lower clamping arm of a manipulator according to embodiment 1;

fig. 7 is a schematic structural view of a flexible gripper of a manipulator according to embodiment 1;

fig. 8 is a schematic structural view of a paw returning assembly of a robot according to embodiment 1;

fig. 9 is a schematic diagram of an explosive structure of a flexible paw of a manipulator according to embodiment 1;

fig. 10 is a schematic structural view of a lock plate assembly of a robot according to embodiment 1;

fig. 11 is a schematic structural view of a locking and mounting fastener of a manipulator according to embodiment 1;

fig. 12 is an exploded view of the paw position limiting assembly of the robot according to embodiment 1.

Detailed Description

The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings and specific embodiments, and it is to be understood that the described embodiments are only some embodiments, but not all embodiments, of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1 to 12, the present embodiment provides a manipulator, which includes a rotation assembly 1, a paw fixing assembly 2, a flexible paw 3, a paw returning assembly 4 and a paw limiting assembly 5, where the rotation assembly 1 is capable of rotating 360 degrees, the rotation assembly 1 includes a flange shaft 101 and a rotation bearing 102 fixedly sleeved on the flange shaft 101, the rotation bearing 102 is used for being mounted on a robot arm having a bearing seat with a matching size, a locking bolt or a gasket is disposed between the rotation bearing 102 and the flange shaft 101, and in the present embodiment, the number of the rotation bearings 102 is two;

the paw fixing component 2 comprises a paw fixing plate 201 and a locking rack 202, wherein the locking rack 202 and the paw fixing plate 201 are fixed on a flange of the flange shaft 101 through bolts; the gripper fixing plate 201 is symmetrically provided with gripper shaft mounting holes 203, the upper gripper arm 601 and the lower gripper arm 602 are respectively rotatably connected with the gripper fixing component 2 through gripper shafts 603 penetrating through the gripper shaft mounting holes 203, one ends of the upper gripper arm and the lower gripper arm far away from the gripper fixing component 2 are respectively detachably connected with the flexible gripper 3, the other ends of the upper gripper arm and the lower gripper arm are respectively rotatably connected with the gripper return component 4, the flexible paw 3 comprises a balance clamping plate 301 and elastic chucks 302 symmetrically arranged on the balance clamping plate 301, the elastic chucks 302 can be made of silica gel or rubber materials, the middle edge of the back surface of the balance clamping plate 301 extends upwards to form two wings, the two wings are symmetrically provided with rebound limiting grooves 303, a balance splint shaft 304 penetrates through the rebound limiting grooves 303, two ends of the balance splint shaft 304 are sleeved with adjusting springs 305 for buffering clamping force and speed, and the middle part of the balance splint 301 is provided with a limit switch 306; one ends of the upper clamping arm and the lower clamping arm, which are far away from the paw fixing component 2, are respectively provided with a balance clamping plate shaft mounting hole 604, and the balance clamping plate shaft 304 passes through the balance clamping plate shaft mounting hole 604 to realize the detachable connection of the flexible paw 3 with the upper clamping arm 601 and the lower clamping arm 602;

the paw return component 4 is rotatably connected with the paw limiting component 5, wherein the paw return component 4 comprises two opposite return connecting rods, each return connecting rod comprises a first connecting plate 401 and a second connecting plate 402, one end of each of the first connecting plate and the second connecting plate is rotatably connected, the other end of each of the first connecting plate and the second connecting plate is respectively penetrated by a first return shaft 403 and a second return shaft 404, a plurality of return springs 405 are arranged between the first return shaft 403 and the second return shaft 404, the first return shaft 403 and the second return shaft 404 respectively penetrate through return shaft mounting holes 605 which are formed in one ends of the upper clamping arm 601 and the lower clamping arm 602 and are close to the paw fixing component 2, and the upper clamping arm 601 and the lower clamping arm 602 are rotatably connected with the paw return component 4;

the relative position between the paw limiting component 5 and the paw fixing component 2 can be limited, the paw limiting component 5 comprises a limiting mounting frame 501, a limiting part 502 and a limiting plate 503, an electromagnet 504 is fixedly connected to the inner top plate of the limiting mounting frame 501, long holes 505 are symmetrically formed in two wing plates of the limiting mounting frame 501, the limiting mounting frame 501 is connected with the limiting part 502 through a mounting shaft 506 penetrating through the long holes 505, the limiting mounting frame 501 is fixedly connected with the limiting plate 503, and the two wing plates of the limiting plate 503 are respectively and rotatably connected with one rotatably connected end of a first connecting plate 401 and one rotatably connected end of a second connecting plate 402 of the two return connecting rods; the position-limiting member 502 includes an electric suction cup 507 which is matched with the electromagnet 504, the electric suction cup 507 is connected to a locking mounting fixture 509 through a suction cup mounting plate 508, the locking fixing member 509 includes two opposite clamping plates 510, through holes 511 are formed on both sides of the suction cup mounting plate 508 and above the clamping plates 510, for matching the mounting shaft 506 to penetrate through the mounting shaft to realize the connection of the limiting mounting rack 501, the sucker mounting plate 508 and the locking mounting firmware 509, a locking plate assembly 512 is clamped between the clamping plates 510, the locking plate assembly 512 comprises a baffle 513 arranged at the outer side and a plurality of locking plates 514 arranged at the inner side, the lower end of the locking plate 514 is provided with a locking angle 515 matched with the locking rack 202, the latch plate 514 is positioned above and against a latch plate spring 516 that is positioned about the mounting shaft 506, a plurality of locking fixing shafts 517 are further arranged between the clamping plates 510 along two sides of the locking plate assembly 512 in a penetrating manner; a plurality of steel ball holes 518 are formed in the locking plate 514 of the locking plate assembly 512 at intervals, and steel balls 519 are arranged in the steel ball holes 518 in a matching mode. When the paw limiting component 5 is close to or far away from the paw fixing component 2, the paw returning component 4 and the paw fixing component 2 are matched to realize the opposite or reverse movement of the upper clamping arm 601 and the lower clamping arm 602, so that the flexible paw 3 finishes the grabbing and releasing actions.

The working principle of the embodiment is as follows:

the upper clamping arm 601 and the lower clamping arm 602 are opened under the action of the return spring 405, the limiting part 502 is driven to slide to the top end of the rack 202, and the flexible paw 3 is in a standby working state; the robot arm drives the paw to grab an object, after the object enters the paw, the object pushes the limiting plate 503 of the paw limiting component 5 to move towards the flange shaft 101 through arm thrust, so that the limiting component 5 is bounced open, and the upper clamping arm 601 and the lower clamping arm 602 drive the flexible paw 3 to clamp the object; the limit switch 306 of the flexible paw 3 acts when touching the object, and the robot arm stops grabbing; after the robot arm stops grabbing an object, a locking angle 515 of a locking plate 514 in the paw limiting assembly 5 is matched with a locking rack 202 of the paw fixing assembly 2 under the action of a locking plate spring 516, the upper clamping arm 601 and the lower clamping arm 602 cannot be opened, a balance clamping plate shaft 304 is clamped, an elastic chuck 302 of a balance clamping plate 3 clamps the object, a clamping force and a clamping speed are buffered by an adjusting spring 305, and the object is protected from mechanical impact damage; after the robot arm moves the object, the electromagnet 504 works to suck the suction cup to drive the limiting component 502 to move towards the electromagnet 504, so that the locking plate 514 of the limiting component 502 leaves the locking rack 202, the upper clamping arm 601 and the lower clamping arm 602 are opened, and the flexible claw 3 releases the object and places the object to a specified position; after the flexible paw 3 releases the object, the electromagnet 504 is powered off, the locking plate 514 in the paw limiting assembly 5 is reset under the action of the locking spring 516, and the upper clamping arm 601 and the lower clamping arm 602 are opened and reset under the action of the return spring 405.

The utility model provides a pair of manipulator can realize effectual pressing from both sides tightly, and compact structure is simple, need not complicated sensing element, and the structure is succinct, and control is convenient, and the design of its flexible hand claw has reached the dual effect of stabilizing centre gripping and control clamping force degree and speed in addition, has effectively reduced the mechanical impact that the object receives, is difficult for causing the injury, and specially adapted valuables's clamp is got, has extensive application prospect.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (10)

1. The utility model provides a manipulator, a serial communication port, including the gyration subassembly, the gyration subassembly can 360 degrees gyrations, and the fixed subassembly of hand claw is connected to its one end, and the other end is connected to the robot arm, the fixed subassembly of hand claw rotates respectively and connects upper arm lock and lower arm lock, upper and lower arm lock is kept away from the fixed subassembly one end of hand claw and can is dismantled respectively and connect flexible hand claw, the upper and lower arm lock other end rotates respectively and connects hand claw return subassembly, hand claw return subassembly rotates and connects the spacing subassembly of hand claw, the spacing subassembly of hand claw can inject its with relative position between the fixed subassembly of hand claw to dispose to cooperate when being close to or keeping away from the fixed subassembly of hand claw return subassembly and hand claw realize the relative motion or the reverse motion of upper and lower arm lock, make flexible hand claw is accomplished and is snatched and is released the action.

2. A manipulator according to claim 1, wherein the swivel assembly comprises a flange shaft and a swivel bearing fixedly secured to the flange shaft, the swivel bearing being adapted to be mounted on a robot arm having a bearing seat of a matching size, the swivel bearing and the flange shaft having a locking bolt or washer therebetween.

3. A manipulator according to claim 2, wherein the claw fixing assembly comprises a claw fixing plate and a locking rack, and the locking rack and the claw fixing plate are fixed on the flange of the flange shaft through bolts.

4. A manipulator according to claim 3, wherein the gripper fixing plates are symmetrically provided with gripper shaft mounting holes, and the upper and lower grippers are rotatably connected to the gripper fixing assembly through gripper shafts passing through the gripper shaft mounting holes, respectively.

5. A manipulator according to claim 3, wherein the flexible claw comprises a balance clamping plate and elastic chucks symmetrically arranged on the balance clamping plate, the middle edge of the back surface of the balance clamping plate extends upwards to form two wings, the two wings are symmetrically provided with resilience limiting grooves, a balance clamping plate shaft penetrates through the resilience limiting grooves, two end sleeves of the balance clamping plate shaft are provided with adjusting springs for buffering clamping force and speed, and the middle part of the balance clamping plate is provided with a limiting switch.

6. A manipulator according to claim 5, wherein the ends of the upper and lower clamping arms, which are far away from the claw fixing component, are respectively provided with a balance clamping plate shaft mounting hole, and the balance clamping plate shaft passes through the balance clamping plate shaft mounting holes to be detachably connected with the flexible claw and the upper and lower clamping arms.

7. A manipulator according to claim 6, wherein the paw return assembly comprises two oppositely-arranged return connecting rods, each return connecting rod comprises a first connecting plate and a second connecting plate, one end of each of the first and second connecting plates is rotatably connected, the other end of each of the first and second connecting plates is respectively penetrated by a first return shaft and a second return shaft, a plurality of return springs are arranged between the first return shafts and the second return shafts, the first return shafts and the second return shafts respectively penetrate through return shaft mounting holes formed in the upper and lower arms close to one end of the paw fixing assembly, and the upper and lower arms are rotatably connected with the paw return assembly.

8. A manipulator according to claim 7, wherein the gripper limiting assembly comprises a limiting mounting frame, a limiting part and a limiting plate, an electromagnet is fixedly connected to the inner top plate of the limiting mounting frame, two wing plates of the limiting mounting frame are symmetrically provided with long holes, the limiting mounting frame is connected with the limiting part through a mounting shaft penetrating through the long holes, the limiting mounting frame is fixedly connected with the limiting plate, and the two wing plates of the limiting plate are respectively rotatably connected with one end of the first connecting plate and one end of the second connecting plate of the two return connecting rods.

9. A manipulator according to claim 8, wherein the limiting member comprises an electric suction cup which is matched with the electromagnet, the electric sucker is connected with the locking installation fixing part through the sucker installation plate, the locking installation fixing part comprises two oppositely arranged clamping plates, through holes are arranged on both sides of the sucker installation plate and above the clamping plates, is used for matching with the mounting shaft to penetrate through the mounting shaft to realize the connection of the limiting mounting rack, the sucking disc mounting plate and the locking mounting firmware, a locking plate component is clamped between the clamping plates and comprises a baffle plate arranged on the outer side and a plurality of locking plates arranged on the inner side, the locking plate lower extreme seted up with the lock angle that the locking rack matches, the locking plate top is supported to the cover and is established the locking plate spring of installation axle is supported, follow between the splint the locking plate subassembly both sides still wear to be equipped with a plurality of locking fixed axles.

10. A manipulator according to claim 9, wherein the locking plate in the locking plate assembly is provided with a plurality of steel ball holes at intervals, and steel balls are arranged in the steel ball holes in a matching manner.

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